The Hough Transform Inside the Feedback Loop of a Mobile Robot. - Johan Forsberg; Ulf Larsson; Per Åhman; Åke Wernersson (ICRA (1), 1993)

Mobile robot navigation using the range-weighted Hough transform. - Johan Forsberg; Ulf Larsson; Åke Wernersson (IEEE Robotics Autom. Mag., 1995)

Mobile robot localization: integrating measurements from a time-of-flight laser. - Ulf Larsson; Johan Forsberg; Åke Wernersson (IEEE Trans. Ind. Electron., 1996)

Mobile robot navigation using non-contact sensors. - Johan Forsberg (1998)